This video shows the LittleDog robot (developed at Boston Dyanmics) attempting to cross a terrain which was much more slippery than expected. Initially it fails. We then teleoperated the robot across the terrain choosing substantially more stable footholds. After training our footstep planner to prefer footholds with similar features we reran the trial. Under the learned footstep costs, our system planned a sequence of footsteps that were significantly more stable, allowing it to successfully traversed the terrain.